Beam splitting device, beam combining device, detection device, lidar, and terminal

Abstract

A beam splitting device, a beam combining device, a detection device, a lidar, and a terminal, applied to the technical field of detection. The beam splitting device and the beam combining device each comprise a third surface, a functional surface, a first reflecting surface, a fourth surface, a second reflecting surface, and a fifth surface. The fourth surface and a functional beam splitting surface are perpendicular to each other to form a first right angle, and the third surface and the first reflecting surface are opposite to the first right angle. The fifth surface and the functional surface are also perpendicular to each other to form a second right angle, and the second reflecting surface is opposite to the second right angle. The functional surface is used for beam splitting and / or beam combining. According to the present application, the optical paths for beam splitting and beam combining on the functional surface are similar, or even symmetrical, facilitating the realization of split beams sharing a common receiving surface and having equal optical path lengths, and / or, facilitating the realization of beam combining under the condition that two beams share a common emitting surface and have equal optical path lengths. In addition, the present application does not require the installation of additional optical elements, facilitating the miniaturization of the device.

Description

Spectral splitter, beam combiner, detection device, laser radar and terminal

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on January 25, 2024, with application number 202410111233.2 and application name “Spectral splitting device, beam combining device, detection device, laser radar and terminal”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of detection technology, and in particular to a spectrometer, a beam combiner, a detection device, a laser radar, and a terminal. Background Art

[0003] Devices with spectroscopic capabilities (i.e., spectrometers) can separate a beam into multiple output beams, improving the integration of optical equipment and enhancing service quality. For example, in security equipment, spectrometers can be used to separate visible and infrared light for independent imaging. Compared to using two separate lenses for independent imaging, the former can achieve both imaging modes while simplifying the overall structure and reducing costs.

[0004] However, the paths of the two beams separated by current spectrometers are often non-coplanar at the receiving end. To achieve coplanarity, additional modules must be added to the spectrometer, resulting in a complex structure and a reduction in the overall size of the device. This is especially true for imaging beams, where the receiving surfaces of the two beams separated are often independent. This requires the receivers for these two beams to be located on separate circuit boards, making assembly and alignment difficult.

[0005] Furthermore, in some scenarios where two beams need to be combined, it is difficult to combine the two input beams while aligning the emission surfaces. Therefore, independent beam combining at the emission end also presents challenges such as difficult assembly and adjustment, and complex optical path structures. Summary of the Invention

[0006] The present application provides a spectrometer, a beam combining device, a detection device, a laser radar, and a terminal. The spectrometer of the present application can achieve the coplanar receiving surfaces and the same optical path of the two output beams of the same light beam after the light is split. The present application does not require the installation of additional optical components, which contributes to the miniaturization of the device. In the beam combining device provided by the present application, the paths of the two light beams before combining are similar, so that the two light beams with coplanar emitting surfaces can be combined into one light beam with the same optical path. There is no need to install additional optical components, which contributes to the miniaturization of the device.

[0007] In a first aspect, the present application provides a spectroscopic device, comprising an incident surface, a spectroscopic surface, a first reflective surface, a first exit surface, a second reflective surface, and a second exit surface. The first exit surface and the spectroscopic surface form a first right angle, and the incident surface and the first reflective surface are both opposite to the first right angle. The second exit surface and the spectroscopic surface form a second right angle, and the second reflective surface is opposite to the second right angle. The spectroscopic surface is used to reflect and transmit an incident light beam, the first reflective surface is used to reflect the light beam reflected by the spectroscopic surface, and the second reflective surface is used to reflect the light beam transmitted by the spectroscopic surface.

[0008] In the present application, by designing the structure of the incident surface, splitting surface and two reflecting surfaces of the splitting device, the light beams reflected and transmitted by the splitting surface are all reflected by the reflecting surface once, so that the propagation paths of the two light beams split by the splitting surface are similar or even symmetrical, which makes it easy to achieve the coplanarity of the receiving surfaces of the two light beams after splitting, and the same optical path of the two split light beams can be achieved.

[0009] When applied to a receiving system, the received beam, after passing through the spectrometer, can produce two output beams with coplanar receiving surfaces and equal optical path lengths. Therefore, the two receiving devices corresponding to the two output beams can be integrated into a single module, for example, mounted on the same circuit board. This simplifies the manufacturing process, significantly reduces the complexity of assembly, and saves time and cost.

[0010] Of course, the present application can also be applied to the transmitting system. In this case, a light beam emitted by the transmitting device can obtain two sub-beams with equal optical paths after passing through the spectrometer of the present application, thereby increasing the number of emission lines.

[0011] In a possible implementation of the first aspect, the included angle between the first reflecting surface and the first emitting surface is a second angle β, the included angle between the second reflecting surface and the second emitting surface is a third angle γ, and the second angle β and the third angle γ satisfy: β=γ.

[0012] In the above embodiment, the second angle β and the third angle γ are identical. Because the angles between the light beam reflected by the splitting surface and the light beam transmitted by it are identical, the propagation paths of the reflected and transmitted light beams are similar, or even symmetrical. Based on the similarity of the optical paths, by adjusting the angle of incidence of the light beams entering the splitting surface in a specific application, the receiving surfaces of the two split light beams can be made coplanar and have the same optical path length. Therefore, the above embodiment can achieve coplanar receiving surfaces and the same optical path length for the two split light beams without the need for additional components.

[0013] In a possible implementation of the first aspect, the angle between the incident surface and the light-splitting surface is a first angle α, and the angle between the first reflecting surface and the first emitting surface is a second angle β. The first angle α and the second angle β satisfy: 90°+α=2β.

[0014] In this embodiment, due to the angular relationship between the first angle α and the second angle β, after the light beam perpendicular to the incident surface propagates to the splitting surface, the light beam reflected by the splitting surface has a path similar to the light beam transmitted by the splitting surface. Combined with the aforementioned equality of the second angle β and the third angle γ, it can be seen that the receiving surfaces of the reflected light beam and the transmitted light beam after splitting by the splitting surface are coplanar and have the same optical path.

[0015] The beam is incident perpendicular to the incident surface, which can reduce beam loss and avoid stray light, thereby improving the effectiveness of the received signal. The above embodiment can achieve a beam perpendicular to the incident surface, and after passing through the beam splitter, the two output beams have the same optical path and coplanar imaging plane.

[0016] In a possible implementation of the first aspect, the spectroscopic device is a prism. Furthermore, the spectroscopic device includes two spectroscopic prisms, which are conveniently described as a first prism and a second prism. The first prism includes an incident surface, a first surface, a first reflection surface, and a first exit surface. The second prism includes a second surface, a second reflection surface, and a second exit surface. The first surface and the second surface are bonded together to form a spectroscopic surface. On the one hand, the prism makes it easy to fix and shape the surface, and the angular relationship between the surfaces is also stable, thereby improving manufacturing efficiency and improving the reliability of the spectroscopic device. On the other hand, by bonding two separately arranged spectroscopic prisms together, the manufacturing difficulty of the spectroscopic device can be reduced and the cost can be reduced.

[0017] In another possible implementation of the first aspect, the spectrometer is formed by bonding a first prism and a second prism together via a spectrometer surface. The integrated spectrometer is compact and highly stable, improving its reliability and enabling better application performance even in environments with significant turbulence and temperature fluctuations (e.g., in a vehicle or onboard an aircraft).

[0018] In another possible embodiment of the first aspect, the beam splitting surface is configured to split a first light beam entering through the incident surface into a second light beam and a third light beam, wherein the second light beam is a reflected light beam and the third light beam is a transmitted light beam. The first reflective surface is configured to reflect the second light beam toward the first exit surface, and the second reflective surface is configured to reflect the third light beam toward the second exit surface. The receiving surfaces of the second light beam emitted through the first exit surface and the third light beam emitted through the second exit surface are coplanar. Furthermore, the optical paths of the second light beam emitted through the first exit surface and the third light beam emitted through the second exit surface are the same.

[0019] Furthermore, the transmission path of the second light beam and the transmission path of the third light beam are symmetrical with respect to the beam splitting surface axis.

[0020] The above embodiment provides an optical path design in which a first light beam enters through the incident surface, is split by the beam splitting surface, and the resulting second light beam propagates to the first reflective surface, while the third light beam propagates to the second reflective surface. After the first and second reflective surfaces reflect the second and third light beams, respectively, the receiving surfaces of the second and third light beams, which are emitted from the exit surface, are coplanar and have the same optical path length.

[0021] Optionally, the first beam originates from the object space, and the second and third beams are used to obtain detection results in the object space. Because the second and third beams are obtained by splitting the same beam and their imaging surfaces are consistent, the detection results obtained based on the second and third beams can be highly matched. When the detection results need to be fused, this can improve the fusion effect and enhance detection performance.

[0022] In another possible implementation of the first aspect, the main optical axis of the first light beam is perpendicular to the incident surface. The light beam is perpendicularly incident on the incident surface, which can reduce beam loss and avoid stray light, thereby improving the effectiveness of the received signal.

[0023] In another possible embodiment of the first aspect, the incident surface is coplanar with the first reflective surface or parallel to the first reflective surface. The aforementioned structural design enables the two split light beams to be imaged on the same receiving surface. The coplanarity or parallelism of the incident surface and the first reflective surface simplifies the overall structure of the spectrometer, making it easier to manufacture.

[0024] In some embodiments, the first angle α and the second angle β satisfy: 90°+α=2β. In this case, the first angle α is 30° and the second angle β is 60°.

[0025] In another possible embodiment of the first aspect, the minimum incident angle of the light beam reflected by the spectroscopic surface on the first reflective surface is greater than or equal to the total reflection angle of the first reflective surface. In the above embodiment, the light beam satisfies the total reflection condition at the first reflective surface, so that the first reflective surface does not need to be coated with a reflective film, simplifying the production process of the spectroscopic device. In some embodiments, the first reflective surface does not need to be coated, so that there can be overlap between the light beam reflected on the first reflective surface and the light beam incident from the incident surface, making the structure of the spectroscopic device more compact and contributing to the miniaturization of the device.

[0026] In another possible implementation of the first aspect, the minimum angle of incidence of the light beam transmitted by the beam splitting surface on the second reflective surface is greater than or equal to the total reflection angle of the second reflective surface. In the above implementation, the light beam satisfies the total reflection condition on the second reflective surface, eliminating the need for a reflective coating on the second reflective surface, thereby simplifying the production process of the beam splitting device.

[0027] In another possible embodiment of the first aspect, the first reflective surface is coated with a reflective film. The coating eliminates the need for the light beam to meet the total reflection angle requirement, lowering the field of view angle requirement for the light beam entering the spectrometer and enabling a wider field of view. Furthermore, since the light beam passes through the imaging lens before reaching the spectrometer, the use of a coating on the first reflective surface allows for a larger aperture number in the imaging lens, reducing design requirements for the detection device and increasing the applicability of the spectrometer.

[0028] In another possible implementation of the first aspect, the second reflective surface is coated with a reflective film. In this way, the viewing angle requirement for the light beam incident on the spectrometer is lowered, and a larger aperture number and viewing angle can be supported.

[0029] In another possible implementation of the first aspect, a spectroscopic film is provided on the first surface, and / or a spectroscopic film is provided on the second surface. Optionally, the spectroscopic film is deposited on the surface by evaporation.

[0030] In another possible implementation of the first aspect, the spectroscopic film includes one or more of a wavelength spectroscopic film, a light intensity spectroscopic film (or an energy spectroscopic film), and a polarization spectroscopic film.

[0031] In another possible embodiment of the first aspect, the wavelength of the light beam reflected by the beam splitting surface is different from the wavelength of the light beam transmitted by the beam splitting surface. Furthermore, the optical path of the light beam reflected by the beam splitting surface within the beam splitting device is the same as the optical path of the light beam transmitted by the beam splitting surface within the beam splitting device. This identical optical path helps achieve consistent imaging planes for the reflected and transmitted light beams. In particular, for a detection device, consistent imaging planes facilitate alignment of detection results obtained based on the reflected and transmitted light beams, thereby improving the resolution of the detection device.

[0032] For example, in some embodiments, the beam splitting surface has different reflectivity and transmittance for light of different wavelengths. For example, the transmittance is lower in the wavelength range less than 750 nanometers (nm), and higher in the wavelength range greater than 800 nm. In other words, light signals with wavelengths less than 750 nm are mostly reflected when passing through the beam splitting surface, while light signals with wavelengths greater than 800 nm are mostly transmitted when passing through the beam splitting surface.

[0033] In another possible implementation of the first aspect, the longer the wavelength, the shorter the corresponding optical path at the same distance. In some solutions, the optical path design and / or prism material design can be used to create differences in the distance or time traveled by reflected and transmitted light in the prism. For example, long wavelengths can be designed to travel a longer distance, enabling both light paths to form images on the same surface.

[0034] For ease of description, in the following examples, the spectroscopic surface is used to reflect a light beam of a first wavelength and transmit a light beam of a second wavelength, and the intersection of the principal optical axis (or principal ray) of the light beam incident on the spectroscopic surface and the spectroscopic surface is the spectroscopic center.

[0035] In another possible implementation of the first aspect, the magnitude relationship between the first distance and the second distance is the same as the magnitude relationship between the first wavelength and the second wavelength, wherein the first distance is the distance from the spectral center to the first exit surface, and the second distance is the distance from the spectral center to the second exit surface. In this implementation, if the first wavelength is greater than the second wavelength, the distance between the spectral center and the first exit surface is greater than the distance between the spectral center and the second exit surface, and the first exit surface "extends" a portion relative to the second exit surface, so that the long wave needs to travel a longer distance in the spectral device, which helps to achieve the same optical path of the reflected light beam and the transmitted light beam. Conversely, if the first wavelength is less than the second wavelength, the distance between the spectral center and the first exit surface is less than the distance between the spectral center and the second exit surface, and the second exit surface "extends" a portion relative to the first exit surface.

[0036] In another possible implementation of the first aspect, the magnitude relationship between the third distance and the fourth distance is the same as the magnitude relationship between the first wavelength and the second wavelength, wherein the third distance is the distance from the spectral center to the first reflection surface, and the fourth distance is the distance from the spectral center to the second reflection surface. In this implementation, if the first wavelength is greater than the second wavelength, the distance between the spectral center and the first reflection surface is greater than the distance between the spectral center and the second reflection surface, and the first reflection surface protrudes further outward relative to the second reflection surface, so that the long wave needs to travel a longer distance in the spectral device, which helps to achieve the same optical path of the reflected light beam and the transmitted light beam. Conversely, if the first wavelength is less than the second wavelength, the distance between the spectral center and the first reflection surface is less than the distance between the spectral center and the second reflection surface, and the second reflection surface protrudes further outward relative to the first reflection surface.

[0037] In another possible implementation of the first aspect, the relationship between the refractive index of the first prism and the refractive index of the second prism is opposite to the relationship between the first wavelength and the second wavelength. In this implementation, the first prism and the second prism are made of materials with different refractive indices. If the first wavelength is greater than the second wavelength, the refractive index of the first prism is less than that of the second prism, so that long waves travel a shorter time in the first prism, which helps to achieve the same optical path length for the reflected light beam and the transmitted light beam. Conversely, if the first wavelength is less than the second wavelength, the refractive index of the first prism is greater than that of the second prism, and the long waves travel a shorter time in the second prism.

[0038] In a second aspect, the present application provides a beam combining device comprising a first prism and a second prism. The first prism comprises a first incident surface, a first surface, a first reflective surface, and an exit surface. The first surface and the first incident surface are perpendicular to each other to form a first right angle, and the first reflective surface and the exit surface are opposite to each other at the first right angle. The second prism comprises a second incident surface, a second surface, and a second reflective surface. The second surface and the second incident surface are perpendicular to each other to form a second right angle, and the second reflective surface is opposite to the second right angle. The first surface and the second surface are bonded to form a beam combining surface, which is used to reflect the light beam reflected by the first reflective surface and transmit the light beam reflected by the second reflective surface to obtain a combined light beam, which is emitted from the exit surface.

[0039] In an embodiment of the present application, both incident light beams are reflected by a reflecting surface once, so that the propagation paths of the two light beams entering the combining surface are similar or even symmetrical, which makes it easy to combine the two light beams in the case of a common emitting surface, and can achieve equal optical path of the two light beams after combining, so as to meet the property requirements of the combined light beam in various situations.

[0040] In a possible implementation of the second aspect, the included angle between the first reflecting surface and the first incident surface is a second angle β, the included angle between the second reflecting surface and the second incident surface is a third angle γ, and the second angle β and the third angle γ satisfy: β=γ.

[0041] In this embodiment, the angle between the first reflective surface and the beam splitter is the same as the angle between the second reflective surface and the beam splitter, resulting in similar, even symmetrical, propagation paths for the two input light beams. Given these similar optical paths, adjusting the angles of incidence of the beams in specific applications can achieve optical path overlap and equal optical path lengths for the two combined beams.

[0042] In a possible implementation of the second aspect, the included angle between the exit surface and the beam combining surface is a first angle α, and the included angle between the first reflecting surface and the first incident surface is a second angle β. The first angle α and the second angle β satisfy: 90°+α=2β.

[0043] In this embodiment, due to the angular relationship between the first angle α and the second angle β, the combined light beam can be perpendicular to the exit surface. This perpendicular exit of the light beam reduces beam loss and avoids stray light, thereby improving the effectiveness of the received signal. In summary, the above embodiment enables two incident light beams to pass through the beam combining device to produce a combined light beam, and this combined light beam is perpendicular to the exit surface.

[0044] In a possible implementation manner of the second aspect, the first prism and the second prism are bonded into one body via a beam-combining surface.

[0045] In another possible embodiment of the second aspect, the first reflecting surface is used to reflect the first light beam toward the beam combining surface, the first light beam enters the first prism from the first incident surface, the second reflecting surface is used to reflect the second light beam toward the beam combining surface, the second light beam enters the second prism from the second incident surface, the emission surfaces of the first light beam incident on the first incident surface and the second light beam incident on the second incident surface are coplanar (or parallel), the beam combining surface is used to reflect the first light beam passing through the first reflecting surface and pass through the second light beam passing through the second reflecting surface to obtain a combined light beam, and the optical axes of the first light beam and the second light beam after passing through the beam combining surface coincide.

[0046] In yet another possible implementation of the second aspect, the combined light beam is perpendicular to the exit surface.

[0047] In another possible implementation of the second aspect, the exit surface is coplanar with the first reflection surface or parallel to the first reflection surface, the first angle is 30°, and the second angle is 60°.

[0048] In another possible implementation of the second aspect, a minimum incident angle of the light beam incident through the first incident surface on the first reflective surface is greater than or equal to a total reflection angle of the first reflective surface.

[0049] In another possible implementation of the second aspect, the first reflective surface is coated with a reflective film.

[0050] In another possible implementation of the second aspect, a minimum incident angle of the light beam incident through the second incident surface on the second reflective surface is greater than or equal to a total reflection angle of the second reflective surface.

[0051] In another possible implementation of the second aspect, the second reflective surface is coated with a reflective film.

[0052] In yet another possible implementation of the second aspect, a prismatic film is provided on the first surface and / or the second surface.

[0053] In another possible implementation of the second aspect, the spectral splitting film includes one or more of a wavelength spectral splitting film, a light intensity spectral splitting film, and a polarization spectral splitting film.

[0054] In yet another possible implementation of the second aspect, a wavelength of the light beam incident from the first incident surface is different from a wavelength of the light beam incident from the second incident surface.

[0055] In the above implementation, the present application can combine two composite light beams of different wavelengths to meet detection requirements in various scenarios.

[0056] In another possible implementation of the second aspect, the wavelength of the light beam incident from the first incident surface and the light beam incident from the second incident surface have the same optical path length in the beam combining device.

[0057] In another possible implementation of the second aspect, the wavelength of the light beam incident on the first incident surface is a first wavelength, the wavelength of the light beam incident on the second incident surface is a second wavelength, and the relationship between the first distance and the second distance is the same as the relationship between the first wavelength and the second wavelength. The first distance is the distance from the beam combining center to the first incident surface, the second distance is the distance from the beam combining center to the second incident surface, and the beam combining center is the intersection of the principal optical axis of the light beam incident on the beam combining surface and the beam combining surface.

[0058] In another possible implementation of the second aspect, the wavelength of the light beam incident on the first incident surface is a first wavelength, the wavelength of the light beam incident on the second incident surface is a second wavelength, and the relationship between the third distance and the fourth distance is the same as the relationship between the first wavelength and the second wavelength. The third distance is the distance from the beam combining center to the first reflective surface, the fourth distance is the distance from the beam combining center to the second reflective surface, and the beam combining center is the intersection of the optical axis of the light beam incident on the beam combining surface and the beam combining surface.

[0059] In another possible embodiment of the second aspect, the wavelength of the light beam incident from the first incident surface is a first wavelength, the wavelength of the light beam incident from the second incident surface is a second wavelength, and the relationship between the refractive index of the first prism and the refractive index of the second prism is opposite to the relationship between the first wavelength and the second wavelength.

[0060] In a third aspect, the present application provides a detection device comprising a first receiving device, a second receiving device, and a spectrometer as described in any one of the first aspects. The spectrometer is configured to split a first light beam into a second light beam and a third light beam, wherein the receiving surfaces of the second light beam and the third light beam are coplanar. The first receiving device is configured to receive the first light beam, the second receiving device is configured to receive the second light beam, and the photosensitive surface of the first receiving device is coplanar with the photosensitive surface of the second receiving device.

[0061] Of course, the two receiving surfaces may not be absolutely coplanar. For example, in some cases, the photosensitive surfaces of the two receiving devices are parallel to each other.

[0062] In a possible implementation of the third aspect, the first receiving device and the second receiving device are used to obtain a detection result. The detection result includes one or more information such as an image, a point cloud, time of flight (TOF) information, the distance, position, angle, reflectivity, or color of the target. In the above implementation, the first light beam and the second light beam are obtained based on the splitting of the same light beam, and the photosensitive surfaces of the first receiving device and the second receiving device are coplanar or parallel, so that the detection result obtained by the first receiving device is highly aligned with the detection result obtained by the second receiving device, which can reduce the complexity of the detection structure fusion and improve the resolution of the detection device.

[0063] In another possible implementation of the third aspect, the first receiving device and the second receiving device are mounted on the same circuit board, so that the two receiving devices share the same circuit board, which is easy to manufacture and assemble.

[0064] In yet another possible implementation of the third aspect, the first receiving device and the second receiving device are detectors, such as single-photon avalanche diode (SPAD) array detectors.

[0065] In another possible implementation of the third aspect, the first receiving device and the second receiving device are image sensors. Optionally, the first receiving device is a visible light sensor, and the second receiving device is a single-channel sensor. Alternatively, the second receiving device is a visible light sensor, and the first receiving device is a single-channel sensor.

[0066] In another possible implementation of the third aspect, the first receiving device is a detector, and the second receiving device is an image sensor. Alternatively, the second receiving device is a detector, and the first receiving device is an image sensor.

[0067] In another possible implementation of the third aspect, the detection device further includes an imaging lens. The first light beam from the object space passes through the imaging lens and then enters the spectroscopic device.

[0068] In one possible implementation of the third aspect, the detection device further includes a filter module. The filter module is disposed between the imaging lens and the first receiving device, or between the imaging lens and the second receiving device. After filtering by the filter module, the effectiveness of the optical signal received by the receiving device is improved, thereby helping to enhance the detection accuracy of the detection device.

[0069] In a fourth aspect, the present application provides a detection device, comprising a first emitting device, a second emitting device, and a beam combining device as described in any one of the second aspects. The first emitting device is configured to emit a first light beam, and the second emitting device is configured to emit a second light beam, wherein the emission surfaces of the first and second light beams are coplanar. The beam combining device is configured to combine the first and second light beams to produce a combined light beam, and the combined light beam is used to detect an object space.

[0070] Optionally, the light-emitting surface of the first emitting device is coplanar with the light-emitting surface of the second emitting device. The light-emitting surface of the first emitting device is the emission surface of the first light beam, and similarly, the light-emitting surface of the second emitting device is the emission surface of the second light beam. Of course, the light-emitting surfaces of the two emitting devices may not be absolutely coplanar. In some embodiments, the light-emitting surfaces of the two receiving devices are parallel to each other.

[0071] In one possible implementation of the fourth aspect, the light beams emitted by the first emitting device and the second emitting device have different properties, such as different wavelengths, different powers, and / or different polarization directions. For example, the first light beam emitted by the first emitting device has a first wavelength, while the second light beam emitted by the second emitting device has a second wavelength.

[0072] In another possible implementation of the fourth aspect, the detection device further includes an optical lens, and the combined light beam is emitted through the optical lens.

[0073] In a fifth aspect, the present application provides a laser radar, including the spectroscopic device described in the first aspect. Optionally, the laser radar further includes a laser and a detector. The laser is configured to emit probe light into object space. The light beam incident on the spectroscopic device includes an echo of the probe light, which is used to obtain information about targets in the object space. The detector is configured to receive the light beam after passing through the spectroscopic device to obtain information about the targets in the object space.

[0074] In a sixth aspect, the present application provides a laser radar, including the spectrometer device described in the second aspect. Optionally, the laser radar further includes a laser and a detector. The laser is configured to emit at least two beams of probe light into an object space. The at least two beams of probe light are incident on a beam combining device to produce a combined light beam, which is used to detect the object space. The detector is configured to receive an echo of the combined light beam to obtain information related to a target in the object space.

[0075] In a seventh aspect, the present application provides a laser radar, comprising a laser and the detection device of the third aspect. The laser is configured to generate a transmission beam, which is used to detect an object space. The detection device is configured to receive a first light beam, which includes an echo of the transmission beam.

[0076] In an eighth aspect, the present application provides a laser radar, comprising a detector and the detection device of the third aspect. The detector is configured to receive a return signal from an object space, the return signal including an echo of the combined light beam emitted by the detection device.

[0077] In a ninth aspect, the present application provides a terminal comprising the spectrometer described in any one of the first aspects, or the detection device described in any one of the second aspects, or the laser radar described in the third aspect. Optionally, the terminal comprises an intelligent terminal or transportation vehicle such as a vehicle, a robot, an unmanned aerial vehicle, or a ship.

[0078] The beneficial effects of some of the solutions of the second, third, fifth, sixth, seventh, and ninth aspects of this application can refer to the beneficial effects of the technical solution of the first aspect. The beneficial effects of some of the solutions of the fourth, sixth, and eighth aspects of this application can refer to the beneficial effects of the solution of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The following is a brief introduction to the drawings required for describing the embodiments.

[0080] FIG1 is a schematic structural diagram of two light splitting devices;

[0081] FIG2 is a schematic diagram of the three-dimensional structure of an optical device provided in an embodiment of the present application;

[0082] FIG3 is a schematic cross-sectional view of the optical device shown in FIG2 taken along line AA;

[0083] FIG4A is a possible optical path diagram of the optical device shown in FIG3 ;

[0084] FIG4B is a possible optical path diagram of the optical device shown in FIG2 ;

[0085] FIG5A is a possible optical path diagram of the optical device shown in FIG3 ;

[0086] FIG5B is a possible optical path diagram of the optical device shown in FIG2 ;

[0087] FIG6 is a schematic structural diagram of another optical device provided in an embodiment of the present application;

[0088] FIG7 is a schematic diagram of the transmittance of a spectrometer for light beams of different wavelengths provided by the present application;

[0089] FIG8 is a schematic diagram of the three-dimensional structure of yet another optical device provided in an embodiment of the present application;

[0090] FIG9A is a schematic diagram of a cross-sectional structure and optical path of the optical device shown in FIG8 taken along line BB;

[0091] FIG9B is a schematic diagram of the cross-sectional structure and optical path of another embodiment of the optical device shown in FIG8 taken along line BB;

[0092] FIG10A is a schematic diagram of the structure and optical path of another optical device provided in an embodiment of the present application;

[0093] FIG10B is a schematic diagram of the structure and optical path of another optical device provided in an embodiment of the present application;

[0094] FIG11A is a schematic diagram of the structure and optical path of another optical device provided in an embodiment of the present application;

[0095] FIG11B is a schematic diagram of the structure and optical path of another optical device provided in an embodiment of the present application;

[0096] FIG12A is a schematic diagram of the structure and optical path of another optical device provided in an embodiment of the present application;

[0097] FIG12B is a schematic diagram of the structure and optical path of another optical device provided in an embodiment of the present application;

[0098] FIG13A is a schematic diagram of the structure and optical path of another optical device provided in an embodiment of the present application;

[0099] FIG13B is a schematic diagram of the structure and optical path of another optical device provided in an embodiment of the present application;

[0100] FIG14 is a schematic structural diagram of another optical device provided in an embodiment of the present application;

[0101] FIG15 is a schematic diagram of a three-dimensional structure of another optical device provided in an embodiment of the present application;

[0102] FIG16 is a schematic cross-sectional view of the optical device shown in FIG15 taken along line CC;

[0103] FIG17 is a schematic diagram of the three-dimensional structure of another optical device provided in an embodiment of the present application;

[0104] FIG18A is a schematic diagram of the structure and optical path of another optical device provided in an embodiment of the present application;

[0105] FIG18B is a schematic diagram of the structure and optical path of another optical device provided in an embodiment of the present application;

[0106] FIG19 is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0107] FIG20 is a schematic diagram of an optical path of a light beam receiving process provided in an embodiment of the present application;

[0108] FIG21 is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0109] FIG22 is a schematic diagram of an optical path of a light beam receiving process provided in an embodiment of the present application;

[0110] FIG23 is a schematic diagram of an optical path of an emission module provided in an embodiment of the present application;

[0111] FIG24 is a schematic structural diagram of a detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0112] A spectrometer is a device that can separate a light beam into multiple light beams. Referring to Figure 1 , the spectrometer shown in (a) of Figure 1 is capable of separating a light beam into a first output beam in the horizontal direction and a second output beam in the vertical direction. The first output beam and the second output beam are received by a first receiving device and a second receiving device, respectively. Because the imaging surfaces of the first receiving beam and the second receiving beam are located on different planes, the first receiving device and the second receiving device need to be placed on different circuit boards, making the equipment difficult to assemble and adjust. The length and width of the equipment, affected by the two receiving devices, also need to be set relatively large, resulting in a larger overall volume.

[0113] In some solutions, the device can be equipped with a deflecting mirror to deflect one of the output beams, thereby generating two parallel beams. As shown in Figure 1(b), the deflecting mirror can deflect the second output beam into a parallel beam. However, due to the different receiving surfaces of the first and second output beams, the first and second receiving devices are difficult to couple, and the imaging effect of the second output beam is difficult to match that of the first receiving beam.

[0114] A beam combiner is a device that combines multiple light beams into one. Currently, in some scenarios where two light beams need to be combined, it is difficult to combine the two input beams when the emission surfaces are coplanar.

[0115] In view of this, the present application provides a spectrometer, a beam combining device, a detection device, a laser radar and a terminal. By designing the structure of the spectrometer, the paths of the two light beams after separation are similar, which makes it easy to achieve equal optical path of the two light beams after splitting, so that the receiving surfaces of the two light beams are coplanar. In addition, the present application does not require the installation of additional optical elements, which contributes to the miniaturization of the equipment. When the present application is applied to the light beam receiving scenario, the imaging surfaces of the two output light beams can be located in the same plane, which enables the two receiving devices corresponding to the two output light beams to be integrated into one module, greatly reducing the difficulty of assembly and adjustment.

[0116] The structure of the present application can also be applied to beam-combining scenarios. In this case, the paths of the two beams before combining are similar, or even symmetrical, making it easy to combine the two beams on a common emission surface, and meeting the requirements for the properties of the combined beam in various situations. When the beam-combining device is applied to a beam emission scenario, it can combine the two beams emitted by two emission modules with a common light-emitting surface into a single output beam. This allows the two emission modules to be installed on the same circuit board, greatly reducing the difficulty of assembly and adjustment.

[0117] The following is an introduction to the light splitting device and beam combining device provided in this application.

[0118] An embodiment of the present application provides an optical device, which can be used as a light splitting device and / or a beam combining device. In conjunction with Figures 2 and 3, the optical device 100 includes a functional surface 10, a third surface 11, a first reflective surface 12, a fourth surface 13, a second reflective surface 21 and a fifth surface 22. Among them, the fourth surface 13 and the functional surface 10 are perpendicular to each other, and the angle formed is called the first right angle (as shown in Figure 3 as θ1), and the third surface 11 and the first reflective surface 12 are opposite to the first right angle θ1. The fifth surface 22 and the functional surface 10 are also perpendicular to each other, and the angle formed by the two is called the second right angle (as shown in Figure 3 as θ2), and the second reflective surface 21 is opposite to the second right angle θ2. The functional surface 10 is used for light splitting and / or beam combining.

[0119] As an illustration of a beam splitting scenario, the light beam incident on the functional surface 10 from the third surface 11 is split into two light beams by the functional surface 10, that is, the functional surface 10 reflects and transmits the light beam incident from the third surface 11 to obtain a reflected light beam and a transmitted light beam. In this case, the optical device 100 can be called a light splitting device, the functional surface 10 can be called a light splitting surface, and the third surface 11 can be called an incident surface. Furthermore, the first reflective surface 12 is used to reflect the light beam reflected by the functional surface 10 and emit it from the fourth surface 13, and the second reflective surface 21 is used to reflect the light beam transmitted by the functional surface 10 and emit it from the fifth surface 22. In this way, in the optical device 100, the light beams reflected and transmitted by the functional surface 10 are both reflected by the reflective surface once, so that the propagation paths of the two light beams split by the functional surface 10 are similar or even the same. On this basis, by designing the angular relationship between the surfaces in the optical device 10, it can be achieved that the receiving surfaces of the two light beams after splitting are the same and the optical path is equal.

[0120] As a schematic diagram of a beam combining scenario, the light beam incident on the functional surface 10 by the first reflecting surface 12 is reflected by the functional surface 10, while the light beam incident on the functional surface 10 by the second reflecting surface 21 is transmitted by the functional surface 10, so that the light beam from the first reflecting surface 12 and the light beam from the second reflecting surface 21 can be combined into one light beam (called a combined light beam), and the combined light beam can be emitted from the third surface 11. In this case, the optical device 100 can be called a beam combining device, and the functional surface 10 can be called a beam combining surface. In this way, in the optical device 100, both incident light beams are reflected by the reflecting surface once, so that the propagation paths of the two light beams entering the beam combining surface are similar or even symmetrical. On this basis, by designing the angular relationship between the surfaces and the relationship between the incident angles, the main optical axes of the two light beams can be made to coincide after the beam combining, which can meet the property requirements of the combined light beam in various situations.

[0121] Furthermore, with reference to FIG2 , the fourth surface 13 and the fifth surface 22 are two side surfaces of the optical device 100, and the functional surface 10 is located within the optical device 100, or a portion of the functional surface 10 is located within the optical device 100. The first reflective surface 12 and the second reflective surface 21 are also side surfaces of the optical device 100. With reference to FIG3 , the first reflective surface 12 and the second reflective surface 21 are opposite the first right angle θ1 and the second right angle θ2, respectively, and are located on either side of the functional surface 10. Furthermore, one side edge of the third surface 11 is connected to an edge of the first reflective surface 12, while the other side edge of the third surface 11 is connected to the functional surface 10, and the other side edge of the first reflective surface 12 is connected to the fourth surface 13. Similarly, one side edge of the second reflective surface 21 is connected to the fifth surface 22.

[0122] Optionally, the fourth surface 13 and the fifth surface 22 are both perpendicular to the functional surface 10, that is, the fourth surface 13 and the fifth surface 22 are parallel or coplanar. In some embodiments, the angle between the fourth surface 13 and the functional surface 10 is the same as the angle between the fifth surface 22 and the functional surface 10.

[0123] In one possible embodiment, the angle between the first reflective surface 12 and the fourth surface 13 is a second angle (denoted as β in FIG3 ), and the angle between the second reflective surface 21 and the fifth surface 22 is a third angle (denoted as γ in FIG3 ). The second angle β and the third angle γ satisfy: β=γ.

[0124] It is not difficult to see from Figure 3 that when β=γ, since both the fourth surface 13 and the fifth surface 22 are perpendicular to the functional surface 10, the angle between the first reflective surface 12 and the functional surface 10 is equal to the angle between the second reflective surface 21 and the functional surface 10. In the scenario where the functional surface 10 is used for light splitting, the angle between the light beam reflected by the functional surface 10 and the transmitted light beam and the functional surface 10 is the same. By designing the angles between the first reflective surface 12 and the second reflective surface 21 and the functional surface 10 to be the same, it is possible to achieve similar propagation paths for the reflected light beam and the transmitted light beam. On the basis of similar optical paths, by adjusting the incident angle of the light beam entering the functional surface, it is possible to achieve equal optical path lengths between the two light beams after light splitting and coplanar receiving surfaces. Similarly, in the scenario where the functional surface is used for beam combining, the angles between the first reflective surface 12 and the second reflective surface 21 and the functional surface 10 are the same, so that the two light beams with coplanar emission surfaces can be combined into one light beam after being reflected by the first reflective surface 12 and the second reflective surface 21 respectively.

[0125] The following describes a light path diagram of the optical device 100 in a light splitting scenario with reference to FIG. 4A .

[0126] Please refer to Figure 4A, which is a possible optical path diagram of the optical device shown in Figure 3. In which, after the light beam 1 enters the optical device 100 from the third surface 11, it propagates to the functional surface 10. In which, the intersection of the main optical axis of the light beam 1 and the third surface 11 is represented as point G, and the intersection of the main optical axis of the light beam 1 and the functional surface 10 is represented as point O (or the splitting center). The functional surface divides the light beam 1 into light beam 2 and light beam 3, light beam 2 is a reflected light beam, and light beam 3 is a transmitted light beam. Light beam 2 propagates to the first reflective surface 12 and is reflected by the first reflective surface 12 to the fourth surface 13. The intersection of the main optical axis of light beam 2 and the first reflective surface 12 is point K, and the intersection with the fourth surface 13 is point M. Light beam 3 propagates to the second reflective surface 21 and is reflected by the second reflective surface 21 to the fifth surface 22. The intersection of the main optical axis of light beam 3 and the second reflective surface 21 is point L, and the intersection with the fifth surface is point N. For ease of description, a point H is defined on the functional surface, coplanar with points G, K, and M. Its location is shown in Figure 4A. In the optical device 100 depicted in Figure 4A, third surface 11 can be used to guide light beam 1 into the optical device 100, that is, third surface 11 can serve as the incident surface. The split light beams 2 and 3 are emitted from fourth surface 13 and fifth surface 22, respectively. In this case, fourth surface 13 and fifth surface 22 can serve as the exit surfaces.

[0127] In a possible example, JO is the normal line of the functional surface 10, and the incident angle of the light beam 1 on the functional surface 10 is ∠GOJ, as shown in FIG4A . KI is the normal of the first reflecting surface 12, and the incident angle of the light beam 2 on the first reflecting surface is ∠OKI. In conjunction with FIG4A , the angle of ∠OKM is 2β, and the angle of ∠HOK is In satisfaction In the case of β=γ, the light beam 2 emitted from the fourth surface 13 is parallel to the functional surface 10. Similarly, since the optical paths of the light beams reflected and transmitted by the functional surface 10 are similar, when β=γ, the light beam 3 emitted along the fifth surface 22 is also parallel to the functional surface 10, and further parallel to the light beam 2 emitted along the fourth surface 13.

[0128] In other words, in the optical device 100, the angle between the first reflective surface 12 and the functional surface 10 is equal to the angle between the second reflective surface 21 and the functional surface 10. satisfy Then it is possible to achieve that the paths of the reflected light beam and the transmitted light beam are similar, and after passing through the first reflecting surface 12 and the second reflecting surface 21 respectively, the imaging surfaces of the reflected light beam and the transmitted light beam are coplanar and have the same optical path. In conjunction with Figures 4A and 4B, the optical device 100 can achieve that the transmission paths of the light beam 2 and the light beam 3 after splitting are similar (or even symmetrical) relative to the functional surface 10. Through the splitting method of the embodiment of the present application, there is no need to add additional components to achieve equal optical paths of the split sub-beams and coplanar receiving surfaces, which simplifies the structure of the optical device. In the case where the optical device is applied to an optical receiving system, the two receiving devices corresponding to the two output light beams can be integrated into one module, for example, installed on the same circuit board, which can reduce the difficulty of the manufacturing process, greatly reduce the complexity of assembly and adjustment, and save time and cost.

[0129] It should be understood that the aforementioned parallelism, similarity, and symmetry are relative. In specific implementations, they may be affected by manufacturing errors and process levels and may not be absolutely parallel, similar, or symmetrical. In addition, the angle relationships in this application can be modified. For example, 90° + α = 2β can also be modified to: Or 2β-α=90°, etc. These angular relationships after variations also fall within the protection scope of this application.

[0130] In another possible example, the light beam 1 is incident perpendicularly to the third surface 11. The angle between the third surface 11 and the functional surface 10 (denoted as α in FIG3 ) is a first angle. In conjunction with FIG4A , the angle of ∠OKM is 2β, and the angle of ∠HOK is Since the beam 1 is perpendicular to the third surface, Therefore, when 90° + α = 2β is satisfied, for the light beam 1 incident perpendicularly on the third surface 11, the light beam 2 emitted along the fourth surface 13 is parallel to the functional surface 10. Since the light beams reflected and transmitted by the functional surface 10 are similar, when β = γ, the light beam 3 emitted along the fifth surface 22 is also parallel to the functional surface 10, and further parallel to the light beam 2 emitted along the fourth surface 13.

[0131] As a possible implementation, the first angle α and the second angle β satisfy: 90°+α=2β.

[0132] In this embodiment, due to the angular relationship between the first angle α and the second angle β, a light beam perpendicular to the third surface propagates to the functional surface and is then split by the functional surface to produce a reflected light beam and a transmitted light beam. Since the reflected light beam and the transmitted light beam are similar (even symmetrical) after separation along the functional surface, combined with the aforementioned equality of the second angle β and the third angle γ, the paths of the reflected light beam and the transmitted light beam after splitting by the functional surface are similar, facilitating the achievement of equal optical path lengths for the two split light beams, thereby ensuring that the receiving surfaces of the two light beams are coplanar.

[0133] In the above example, the light beam is incident perpendicular to third surface 11, which reduces beam loss and avoids stray light, thereby improving the effectiveness of the received signal. For example, when part of light beam 1 is reflected by third surface 11, the stray light can propagate in a direction opposite to the propagation direction of light beam 1, away from optical device 100, reducing the possibility of stray light being reflected by surrounding components and entering the receiving optical path.

[0134] In some of the above embodiments, when the light beam 1 is not incident perpendicularly to the third surface 11, the two output light beams may also have equal optical paths and coplanar receiving surfaces. For example, at the second angle β and the incident angle of the light beam on the functional surface satisfy In this case, it is not necessary to limit α and β to satisfy 90°+α=2β. Of course, these embodiments are also applicable to the case where α and β satisfy 90°+α=2β.

[0135] The following describes a light path diagram of the optical device 100 in a beam combining scenario with reference to FIG5A .

[0136] Please refer to Figure 5A, which is another possible optical path diagram of the optical device shown in Figure 3. Light beam 4 and light beam 5 are incident from the fourth surface 13 and the fifth surface 22 respectively. Light beam 4 is reflected by the first reflective surface 12 and reaches the functional surface 10, while light beam 5 is reflected by the second reflective surface 21 and reaches the functional surface 10. The functional surface 10 can be used to reflect light beam 4 and transmit light beam 5. After passing through the functional surface 10, light beam 4 and light beam 5 are merged to obtain light beam 6 (i.e., a merged light beam). In combination with Figures 5A and 5B, the optical device 100 can merge the light beam 4 and light beam 5 incident on the optical device 100, and the merged light beam emerges from the third surface 11. At this time, the fourth surface 13 and the fifth surface 22 can be used to guide the light beams into the optical device 100, that is, the fourth surface 13 and the fifth surface 22 can be called the incident surface, and the third surface 11 can be called the exit surface.

[0137] In Figure 5A , the intersection of the principal optical axis of light beam 6 and functional surface 10 is represented as point O (or the beam combining center). Light beam 6 can be considered the reverse beam of light beam 1, while light beams 4 and 5 can be considered the reverse beams of light beams 1 and 2. Therefore, the positions and angles of some of the points shown in Figure 5A can be found in the description of Figure 4A .

[0138] In a possible example, JO is the normal line of the functional surface 10, and the incident angle of the light beam 4 on the functional surface 10 is ∠JOK, as shown in FIG5A . The incident angle of the light beam 4 on the first reflecting surface is ∠IKM. In conjunction with FIG5A , the angle of ∠OKM is 2β, and the angle of ∠HOK is In satisfaction In this case, the optical axes of the light beam 4 incident perpendicularly to the fourth surface 13 and the light beam 5 incident perpendicularly to the fifth surface 22 are parallel or even overlap after passing through the functional surface 10. In the case of overlap, the light beam 4 and the light beam 5 are combined into a single light beam, namely the light beam 6 shown in FIG5A.

[0139] In another possible example, the combined light beam is emitted perpendicularly to the third surface 11. With reference to the relevant discussion of FIG4A , in this case, the first angle α and the second angle β satisfy: 90°+α=2β.

[0140] In the above example, the combined light beam is emitted perpendicularly to the third surface 11 , which can reduce beam loss and avoid stray light, thereby improving the effectiveness of the received signal.

[0141] The above describes two optical path diagrams of light splitting and light combining. The following describes an applicable optical system of the optical device 100.

[0142] In one possible embodiment, the optical device 100 is applied to a light receiving system. Taking a spectroscopic scenario as an example, referring to Figures 4A and 4B , light beam 1 may include a light beam from the object space, and light beams 2 and 3 are used to obtain detection results in the object space. Because light beams 2 and 3 are obtained by splitting the same light beam and their imaging surfaces are consistent, the detection results obtained based on light beams 2 and 3 can be highly matched. When the detection results need to be fused, the fusion effect can be improved, thereby enhancing detection performance.

[0143] In another possible embodiment, the optical device 100 can be applied to a light emitting system. Taking the beam combining scenario in the light emitting system as an example, in conjunction with Figures 5A and 5B, light beam 4 can be a light beam emitted by one light emitting device, and light beam 5 can be a light beam emitted by another light emitting device. After being combined by the optical device 100, light beam 4 and light beam 5 can be combined to obtain a combined light beam, and the object space can be detected. In some schemes, light beam 4 and light beam 5 have different optical properties, such as different energy intensity or energy distribution, or different wavelengths, or different polarization modes, so that the combined light beam is a composite light beam. When the composite light beam is used for detecting the object space, it is beneficial to improve the detection efficiency and enhance the detection accuracy.

[0144] Taking the spectroscopic scenario in the light emitting system as an example, combined with Figure 4A and Figure 4B, light beam 1 can be a light beam emitted by the light emitting device. After passing through the optical device 100, the light beam can be separated into two light beams and irradiated into the object space, thereby increasing the number of lines of the emitted light beam and improving the detection efficiency.

[0145] Some possible designs of the aforementioned optical device 100 will be further introduced below.

[0146] In some possible implementations, the optical device 100 may be used in a coaxial transceiver system. For example, the optical device 100 may perform a beam combining operation during transmission and a beam splitting operation during reception.

[0147] In one possible embodiment, in conjunction with Figure 2, the optical device 100 is a prism. The prism is used to achieve light splitting and reflection, so that each surface is easy to fix and shape, and the angular relationship between each surface is also stable, which improves manufacturing efficiency and can improve the reliability of the optical device. Please refer to Figure 6 and Figure 4A. The optical device 100 includes two light splitting prisms, namely a first prism 101 and a second prism 102. The first prism 101 includes a third surface 11, a first surface 14, a first reflective surface 12 and a fourth surface 13. The second prism 102 includes a second surface 23, a second reflective surface 21 and a fifth surface 22. Among them, the first surface 14 of the first prism 101 and the second surface 23 of the second prism 102 are bonded to form a functional surface 10. The optical device 100 is formed by bonding two separately arranged light splitting prisms, which can reduce manufacturing difficulty and reduce costs.

[0148] Optionally, the third surface 11, the first surface 14, the first reflective surface 12, and the fourth surface 13 are side surfaces of the first prism 101. Referring to FIG6 , the first prism 101 further includes a first upper base surface 15 and a first lower base surface 16. Similarly, the second surface 23, the second reflective surface 21, and the fifth surface 22 are side surfaces of the second prism 102. The second prism 102 further includes a second upper base surface 24 and a second lower base surface 25.

[0149] In some possible embodiments, a spectroscopic film is provided on the first surface 14 and / or the second surface 23. In some examples, the spectroscopic film is deposited on the surface by evaporation. Optionally, the spectroscopic film includes one or more of a wavelength spectroscopic film, an intensity spectroscopic film (or an energy spectroscopic film), and a polarization spectroscopic film.

[0150] Exemplarily, the functional surface can divide the light beam into two parts with the same energy, that is, the functional surface is a semi-transparent and semi-reflective functional surface. In some schemes, within a certain wavelength range, such as a wavelength range of 300 nanometers (nm) to 100 microns (μm), the semi-transparent and semi-reflective functional surface has the same transmittance and reflectivity for light of each wavelength. It should be understood that the same here does not necessarily mean exactly the same, for example, the difference between the two is about 10%. Generally speaking, the splitting method in which the transmitted light and the reflected light each account for 50% is commonly used. However, the present application is also applicable to spectroscopes with other transmittance ratios (reflection ratios), such as a splitting method with 40% transmittance and 60% reflection.

[0151] As another example, the functional surface adopts a wavelength-division design. For example, the functional surface has different reflectivity and transmittance for light of different wavelengths. In conjunction with Figure 7, the transmittance of the functional surface 10 is low in the wavelength range of less than 650nm, and the transmittance is high in the wavelength range of greater than 750nm. That is, when light signals with wavelengths less than 650nm pass through the functional surface, most of them are reflected, and when light signals with wavelengths greater than 750nm pass through the functional surface, most of them are transmitted. It should be understood that the transmittance curve shown in Figure 7 is only an example. In specific implementations, the transmittance of the functional surface can have other designs, and there can also be other designs for which wavelengths of light beams are highly transmitted and which wavelengths of light beams are highly reflected.

[0152] It should be noted that, when the aforementioned beam splitter film is used in beam combining scenarios, for example, in some beam combining scenarios, the beam splitter film can be referred to as a beam combining film, and the relevant descriptions are not repeated here one by one.

[0153] In some possible implementations, referring to Figures 2 and 6 , an optical device 100 is formed by bonding a first prism 101 and a second prism 102 together via a functional surface 10. This integrated optical device is compact and highly stable, improving its reliability and enabling better performance even in environments with significant bumps and temperature fluctuations (e.g., in a vehicle or onboard).

[0154] Optionally, the surfaces of the first prism 101 and the second prism 102 that are in contact with each other may have the same shape and further may have the same size. Of course, the present invention is also applicable to cases where the two have different shapes and sizes, such as the embodiment shown in FIG. 12A below.

[0155] In some possible implementations, the first prism 101 and the second prism 102 are spliced ​​together through a prism bonding process to obtain the optical device 100 . The prism bonding process here includes gluing, optical bonding, and the like.

[0156] In some possible embodiments, the third surface 11 is coplanar with, or parallel to, the first reflective surface 12. Considering some possible scenarios, the first angle α and the second angle β satisfy the following: 90° + α = 2β. In this case, the first angle is 30° and the second angle is 60°. For example, referring to Figures 8, 9A, 9B, 10A, and 10B, the third surface 11 is coplanar with the first reflective surface 12. For another example, referring to Figures 11A and 11B, the third surface 11 is parallel to the first reflective surface 12.

[0157] In some possible embodiments, in a beam splitting scenario, the light beam reflected by the functional surface 10 is totally reflected on the first reflection surface 12. Referring to FIG9A , the first reflection surface 12 reflects the light beam reflected by the functional surface to the fourth surface 13. Total internal reflection (called total internal reflection) is an optical phenomenon. When light is emitted from a denser medium to a less dense medium, if the angle of incidence is greater than the angle of total reflection, the refracted light will all disappear, and all the incident light will be reflected without entering the less dense medium. This phenomenon is called total internal reflection. For example, at the interface between a denser medium and a less dense medium, light from the denser medium with an incident angle less than the critical angle of total reflection can be refracted into the less dense medium, while light from the denser medium with an incident angle greater than or equal to the critical angle of total reflection will all be reflected back to the denser medium. The critical angle of total reflection is related to the refractive index of the denser medium and the refractive index of the less dense medium.

[0158] In some embodiments, the light at the edge of the light beam has a certain angle with the main optical axis of the light beam. Accordingly, in the light beam reflected by the functional surface, the light at the optical axis and the light at the edge of the light beam have different incident angles on the first reflective surface 12. As a possible implementation, the minimum incident angle of the light beam transmitted by the functional surface on the first reflective surface 12 is greater than or equal to the total reflection angle (or total reflection critical angle) of the first reflective surface 12. The minimum incident angle is the smallest angle among the incident angles formed by the light beam transmitted by the functional surface at different positions. In this way, the light beam reflected by the functional surface meets the total reflection condition (i.e., greater than the total reflection angle) on the first reflective surface, so that the first reflective surface 12 does not need to be coated with a reflective film, thereby simplifying the production process of the optical device.

[0159] Furthermore, in combination with FIG9A , taking the spectroscopic scenario as an example, when the first reflective surface 12 is not coated with a reflective film, there may be an overlap between the light beam reflected on the first reflective surface 12 and the light beam incident from the third surface, which is conducive to the miniaturization of the device.

[0160] 9B , in the beam combining scenario, the light beam incident from the fourth surface 13 is totally reflected on the first reflective surface 12. Furthermore, the minimum incident angle of the light beam incident from the fourth surface 13 on the first reflective surface 12 is greater than or equal to the total reflection angle of the first reflective surface 12.

[0161] Optionally, when the first reflective surface 12 is not coated with a reflective film, there may be an overlap between the light beam reflected on the first reflective surface 12 and the light beam emitted from the third surface.

[0162] In some possible implementations, referring to FIG. 9A , using a spectroscopic scenario as an example, a transmitted light beam passing through functional surface 10 undergoes total reflection on second reflective surface 21. Similar to the conditions for total reflection on first reflective surface 12 described above, in this case, the minimum angle of incidence of the light beam passing through functional surface 10 on second reflective surface 21 is greater than or equal to the total reflection angle of second reflective surface 21. This ensures that the light beam satisfies the total reflection condition on second reflective surface 21, eliminating the need for a reflective coating on second reflective surface 21 and simplifying the production process for the optical device.

[0163] Similarly, referring to FIG9B , in the beam combining scenario, the light beam incident from the fifth surface 22 is totally reflected on the second reflective surface 21. Similar to the conditions for total reflection on the first reflective surface 12, in this case, the minimum angle of incidence of the light beam incident from the fifth surface 22 on the second reflective surface 21 is greater than or equal to the total reflection angle of the second reflective surface 21.

[0164] Optionally, the total reflection angles of the first reflection surface 12 and the second reflection surface 21 are different or the same.

[0165] The above describes how the reflection effect is achieved by total reflection on the first reflection surface 12 and the second reflection surface 21. Now, some possible implementations of coating reflection are described with reference to FIG10A and FIG10B.

[0166] In some possible embodiments, the first reflective surface 12 is coated with a reflective film. Optionally, the reflective film is deposited on the first reflective surface by vapor deposition. With the coating, the light beam does not need to meet the total reflection angle requirement, lowering the viewing angle requirement for the light beam incident on the optical device and enabling a wider viewing angle.

[0167] In some solutions, the light beam passes through the imaging lens before reaching the optical device. When the first reflective surface is coated, the aperture of the imaging lens can be larger, which can reduce the design requirements of the detection device and expand the application scenarios of the optical device. The aperture number, also known as the F number, is a parameter that indicates the ability of the lens to detect light. In some solutions, it is defined as the ratio of the equivalent focal length to the optical aperture, denoted as F or f / D.

[0168] In some possible implementations, the second reflective surface 21 is coated with a reflective film. In this way, the viewing angle requirement for the light beam incident on the optical device is lowered, and a larger aperture number and viewing angle can be supported.

[0169] It should be noted that the above-mentioned various embodiments can be combined. For example, the first reflective surface 12 reflects light through total internal reflection, while the second reflective surface 21 is coated with a reflective film.

[0170] In some possible embodiments, the wavelength of the light beam reflected by the functional surface 10 is different from the wavelength of the light beam transmitted by the functional surface 10, and the optical path of the light beam reflected by the functional surface within the optical device is the same as the optical path of the light beam transmitted by the functional surface within the optical device. For example, when the optical device 100 is used in a light receiving system, the same optical path can achieve consistent imaging planes for the reflected and transmitted light beams. In particular, for a detection device, consistent imaging planes facilitate alignment of detection results obtained based on the reflected and transmitted light beams, thereby improving the resolution of the detection device.

[0171] For example, in some solutions, a wavelength-splitting film (or wavelength-selective spectroscopic film) is provided on the functional surface 10, which makes the functional surface 10 have different reflectivity and transmittance for light of different wavelengths. In the case where the spectroscopic principle of the functional surface 10 is wavelength spectrometry (or wavelength beam combining), the longer the wavelength, the shorter the corresponding optical path at the same distance. In some solutions, through the design of the optical path or the design of the prism material, the distance or time traveled by the reflected light beam and the transmitted light beam of the functional surface 10 in the prism is different. For example, the distance traveled by the long wave is designed to be longer, so that the optical path of the two light beams is the same. The following examples illustrate some implementation methods that can achieve the same optical path. It should be understood that the implementation methods below can be combined.

[0172] For ease of description, in the following example, the functional surface 10 is used to reflect a light beam of a first wavelength and transmit a light beam of a second wavelength. It should be understood that the first wavelength and the second wavelength here are exemplary descriptions for the convenience of describing the transmittance and reflectance characteristics of the functional surface 10 for long waves and short waves, and should be understood in a broad sense in specific implementations. In some embodiments, the first wavelength and the second wavelength can represent wavelength ranges, for example, the first wavelength is a wavelength range less than or equal to 700nm, and the second wavelength is a wavelength range greater than 700nm. In some embodiments, the first wavelength is the center wavelength of the wavelength range reflected by the functional surface, or the second wavelength is the center wavelength of the wavelength range transmitted by the functional surface.

[0173] For the convenience of description, for the beam splitting situation, the intersection of the main optical axis (or main ray) of the light beam incident on the functional surface 10 and the functional surface 10 is called the beam splitting center, and for the beam combining situation, the intersection of the main optical axis (or main ray) of the light beam after being combined by the functional surface 10 and the functional surface 10 is called the beam combining center. In the above definitions, the beam splitting center and the beam combining center are interchangeable. It should be understood that the beam splitting center (or beam combining center) is an exemplary definition made to facilitate the description of the distance from the functional surface, and the specific implementation may have other definitions. For example, the various embodiments of the present application are also applicable to the case where the beam splitting center is located at the center of the optical axis of the optical device 100, or the beam splitting center can also be any point on the functional surface 10, such as the midpoint on the functional surface 10 or the midpoint in any direction.

[0174] In one possible embodiment, referring to FIG. 12A , taking the light splitting case as an example, the distance from the light splitting center O to the fourth surface 13 is a first distance, for example, represented by OR1. The distance from the light splitting center O to the fifth surface 22 is a second distance, for example, represented by OR2. The relationship between the first distance OR1 and the second distance OR2 is similar to the relationship between the first wavelength and the second wavelength. It will be understood that if the first wavelength is greater than the second wavelength, that is, the functional surface reflects long wavelengths and transmits short wavelengths, then the first distance OR1 is greater than the second distance OR2, and the fourth surface 13 "extends" slightly relative to the fifth surface 22, forcing the long wavelength to travel a longer distance in the optical device 100, thereby helping to achieve the same optical path length for the reflected and transmitted beams. Conversely, if the first wavelength is less than the second wavelength, then the first distance OR1 is less than the second distance OR2, and the fifth surface 22 "extends" slightly relative to the fourth surface 13, forcing the long wavelength to travel a longer distance in the optical device 100, thereby achieving the same optical path length.

[0175] Similarly, referring to FIG12B , for the beam-combining case, the relationship between the first distance OR1 and the second distance OR2 is the same as the relationship between the first wavelength and the second wavelength. If the first wavelength is greater than the second wavelength, that is, the functional surface reflects long wavelengths and transmits short wavelengths, in the structure shown in FIG12B , the long wavelengths need to travel a longer distance in the optical device 100, which helps to achieve the same optical path length for the reflected and transmitted beams. Conversely, if the first wavelength is less than the second wavelength, the first distance OR1 is less than the second distance OR2, and the long wavelengths also travel a longer distance in the optical device 100, achieving the same optical path length.

[0176] In one possible embodiment, referring to FIG. 13A , taking the light splitting situation as an example, the distance from the light splitting center O to the first reflective surface 12 is a third distance, denoted, for example, OS1. The distance from the light splitting center O to the second reflective surface 21 is a fourth distance, denoted, for example, OS2. The relationship between the third distance OS1 and the fourth distance OS2 is similar to the relationship between the first wavelength and the second wavelength. It is understood that if the first wavelength is greater than the second wavelength, that is, the functional surface reflects long wavelengths and transmits short wavelengths, then the third distance OS1 is greater than the fourth distance OS2. The first reflective surface 12 "bulges" further away from the light splitting center relative to the second reflective surface 21, forcing long wavelengths to travel a longer distance within the optical device 100, thereby facilitating the equivalence of the optical path lengths of the reflected and transmitted beams. Conversely, if the first wavelength is less than the second wavelength, the third distance OS1 is less than the fourth distance OS2, forcing long wavelengths to travel a longer distance within the optical device 100, thereby achieving equivalence of the optical path lengths of the reflected and transmitted beams.

[0177] Similarly, for beam combining, referring to Figure 13B , the relationship between the third distance OS1 and the fourth distance OS2 is the same as the relationship between the first wavelength and the second wavelength. If the first wavelength is greater than the second wavelength, that is, the functional surface reflects long wavelengths and transmits short wavelengths, then in the structure shown in Figure 13B , the long wavelengths need to travel a longer distance in the optical device 100, helping to achieve the same optical path length for the reflected and transmitted beams. Conversely, if the first wavelength is less than the second wavelength, then the third distance OS1 is less than the fourth distance OS2, and the long wavelengths similarly travel a longer distance in the optical device 100, achieving the same optical path length.

[0178] In one possible embodiment, the optical device 100 includes a first prism 101 and a second prism 102. The first prism 101 and the second prism 102 have different refractive indices. Furthermore, the magnitude relationship between the refractive index of the first prism 101 and the refractive index of the second prism 102 is opposite to the magnitude relationship between the first wavelength and the second wavelength. In this way, the first prism 101 and the second prism 102 are made of materials with different refractive indices. If the first wavelength is greater than the second wavelength, the refractive index of the first prism 101 is less than the refractive index of the second prism 102, so that the long wave travels a shorter time in the first prism 101, which helps to achieve the same optical path of the reflected light beam and the transmitted light beam. Conversely, if the first wavelength is less than the second wavelength, the refractive index of the first prism 101 is greater than the refractive index of the second prism 102, and the long wave travels a shorter time in the second prism 102.

[0179] The following is an example of a combination, referring to FIG14 . When the wavelength of the reflected light beam of the functional surface 10 is greater than the wavelength of the transmitted light beam, the fourth surface 13 protrudes further than the fifth surface 22, and the first reflective surface 12 protrudes further than the second reflective surface 21. As a result, the long wavelength needs to travel a longer distance in the optical device 100, achieving the same optical path length for the long and short wavelengths. Of course, this application is also applicable to other combinations of embodiments, which will not be illustrated here one by one.

[0180] In the foregoing, some embodiments are illustrated by assuming that the structures on the left and right sides of the functional surface 10 are substantially symmetrical. In some possible embodiments, the structures on the left and right sides of the functional surface 10 may be asymmetrical. When the optical device 100 includes the first prism 101 and the second prism 102, the structures of the first prism 101 and the second prism 102 may be different.

[0181] Please refer to Figure 15, which is a schematic diagram of the three-dimensional structure of another optical device provided in an embodiment of the present application. The optical device 100 includes a first prism 101 and a second prism 102. The third surface 11 of the first prism 101 is opposite to the first reflective surface 12 and the first right angle (i.e., the right angle formed by the functional surface 10 and the fourth surface 13), and the third surface 11 is connected to the edge of the first reflective surface 12. The third surface 11 is also connected to the edge of the functional surface 10, and the first reflective surface 12 is connected to the edge of the fourth surface 13. In the second prism, the second reflective surface 21 is connected to the edges of the functional surface 10 and the fifth surface 22 respectively. The structures of the first prism 101 and the second prism 102 are asymmetric.

[0182] In conjunction with FIG. 16 , in some cases, when the structure of the optical device is not completely symmetrical, the paths of the reflected and transmitted light beams separated by the functional surface 10 may be symmetrical. For example, when the second angle β and the third angle γ satisfy β = γ, and the distance from the first reflective surface 12 to the beam splitting center is the same as the distance from the second reflective surface 21 to the beam splitting center, the optical paths of the reflected and transmitted light beams are symmetrical along the axis of the functional surface 10.

[0183] 2 to 16 above exemplarily introduce the optical device provided by the embodiment of the present application in the form of a prism. In some solutions, the optical device of the present application can also be implemented by providing multiple optical elements.

[0184] 17 , 18A and 18B , the optical device 200 includes a beam splitter 201 (or beam combiner), a first folding mirror 202 and a second folding mirror 203. The beam splitter 201 is used for beam splitting and / or beam combining. In conjunction with FIG18A , in a beam splitting scenario, the beam splitter 201 splits the light beam into a reflected light beam and a transmitted light beam. In conjunction with FIG18B , in a beam combining scenario, the beam splitter 201 reflects the light beam from the first folding mirror 202 and projects the light beam from the second folding mirror 203, thereby obtaining a combined light beam.

[0185] Optionally, the beam splitter 201 is a beam splitting element that performs wavelength splitting, energy splitting, or polarization splitting, such as a semi-transparent and semi-reflective beam splitter, a 40% transmittance and 60% reflection beam splitter, a dichroic beam splitter, or a polarization beam splitter. The reflected light beam obtained by the beam splitter 201 is reflected by the first deflecting mirror 202, and the transmitted light beam is reflected by the second deflecting mirror 203.

[0186] In one possible implementation, the angle between the reflective surface of the first folding mirror 202 and the functional surface of the beam splitter 201 is a fourth angle, for example, represented by μ, and the angle between the reflective surface of the second folding mirror 203 and the functional surface of the beam splitter 201 is a fifth angle, for example, represented by ν. In a beam splitting scenario, the fourth angle μ is the same as the fifth angle ν, so that the optical paths of the reflected light beam and the transmitted light beam are similar. In this way, by controlling the incident angle of the light beam entering the beam splitter 201, it is possible to achieve that the light beam reflected by the first folding mirror 202 is parallel to the light beam reflected by the second folding mirror 203, thereby achieving parallel receiving surfaces of the two.

[0187] Consider a possible optical path, in conjunction with FIG18A , the light beam incident on the beam splitter 201 is beam 1, and the beam splitter 201 splits beam 1 into beam 2 and beam 3. The incident angle of beam 1 is expressed as It is not difficult to see that at the incident angle satisfy In this case, the paths of light beams 2 and 3 can be similar, and after passing through the first deflecting mirror 202 and the second deflecting mirror 203, light beams 2 and 3 are parallel, and the imaging surfaces are parallel or coplanar. Of course, in some solutions, due to the thickness of the beam splitter 201, the optical paths of light beams 2 and 3 may be different. In further solutions, additional components can be provided on the optical path of the reflected light beam to make the optical paths of light beams 2 and 3 the same, thereby achieving coplanarity of the receiving surfaces.

[0188] In one possible embodiment, if the beam splitter 201 performs wavelength splitting, such as reflecting light of a first wavelength and transmitting light of a second wavelength, the relationship between the distance from the first deflecting mirror 202 to the beam splitting center and the distance from the second deflecting mirror 203 to the beam splitting center is the same as the relationship between the first wavelength and the second wavelength. The beam splitting center is the intersection of the center of light beam 1 and the surface of the beam splitter 201, i.e., point O shown in FIG18A . For related descriptions, see above.

[0189] The possible designs in the aforementioned beam splitting scenario are also applicable to the beam combining scenario. For example, in conjunction with Figure 18B, in the beam combining scenario, the fourth angle μ is the same as the fifth angle ν, and the light beams after passing through the beam splitter 201 are parallel, so that it is easy to integrate to obtain a light beam. Exemplarily, the light beam 4 and the light beam 5 are incident on the first folding mirror 202 and the second folding mirror 203 respectively, and the beam splitter 201 is used to reflect the light beam 4 and transmit the light beam 5. Since the fourth angle μ is the same as the fifth angle ν, the light beam 4 and the light beam 5 are parallel after passing through the beam splitter 201. By designing the positions of the light beam 4 and the light beam 5 incident on the first folding mirror 202 and the second folding mirror 203, the main optical axes of the light beam 4 and the light beam 5 after passing through the beam splitter 201 are coincident, thereby merging to obtain a light beam.

[0190] In some solutions, the positions of the three are fixed by pre-designing a mirror base that matches the beam splitter 201, the first folding mirror 202 and the second folding mirror 203.

[0191] The detection device of the present application is provided below.

[0192] The present application also provides a detection device, comprising a first receiving device and a second receiving device, and further comprising the aforementioned optical device, such as optical device 100 or optical device 200. The optical device is configured to separate a first light beam into a second light beam and a third light beam, wherein the receiving surfaces of the second light beam and the third light beam are coplanar. The first receiving device is configured to receive the first light beam, and the second receiving device is configured to receive the second light beam, wherein the receiving surface of the first receiving device is coplanar or parallel to the photosensitive surface of the second receiving device.

[0193] The following is an illustrative introduction using the optical device 100 as an example. The optical device 100 in the following description may be replaced by the optical device 200 .

[0194] Referring to FIG. 19 , the detection device 300 includes a first receiving device 301, a second receiving device 302, and an optical device 100. The first receiving device 301 and the second receiving device 302 are configured to obtain detection results. The detection results may include one or more items of information, such as an image, a point cloud, time of flight (TOF) information, and the target's distance, position, angle, reflectivity, or color.

[0195] Optical device 100 is used to split a first light beam into a second light beam and a third light beam. As shown in FIG20 , the imaging planes of the second and third light beams emitted from optical device 100 are coplanar (or parallel) and have equal optical path lengths. Accordingly, the receiving surface of first receiving device 301 is coplanar (or parallel) with the receiving surface of second receiving device 302, ensuring a high degree of registration between the detection results obtained by first receiving device 301 and second receiving device 302. This reduces the complexity of detection structure fusion and improves the resolution of the detection device.

[0196] Furthermore, the first receiving device 301 and the second receiving device 302 are mounted on the same circuit board, so that the two receiving devices share the same circuit board, which is easy to manufacture and assemble.

[0197] In one possible embodiment, the first receiving device 301 and the second receiving device 302 are detectors, or radar detectors. Exemplarily, the first receiving device 301 and the second receiving device 302 include one or more of the following detection units: a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), a multi-pixel photon counter (MPPC), a semiconductor avalanche photodiode (APD), or a "positive-intrinsic-negative" (PIN) diode (or a P-type semiconductor-impurity-N-type semiconductor diode). In some embodiments, multiple detection units can be arranged in an array to form an array detector. For example, the first receiving device 301 and the second receiving device 302 are SPAD array detectors.

[0198] In one possible implementation, the first receiving device 301 and the second receiving device 302 are image sensors. For example, the first receiving device 301 and the second receiving device 302 include one or more of the following photosensitive units: complementary metal oxide semiconductor (CMOS), charge-coupled device (CCD), Live MOS, etc. For example, the first receiving device 301 includes a CMOS image sensor (CIS), and / or the second sensor includes a CIS.

[0199] In some solutions, the CIS includes one or more of a color sensor or a monosensor, such as an RGB sensor. Monosensors can image in low-light or even dark environments, significantly improving the detection performance and accuracy of the detection device in low-light conditions.

[0200] In some embodiments, the optical device is a wavelength-splitting optical device. The first receiving device 301 is an RGB sensor, and the second receiving device 302 is a monosensor. Alternatively, the second receiving device 302 is an RGB sensor, and the first receiving device is a monosensor.

[0201] In a possible implementation, the first receiving device 301 is a detector, and the second receiving device 302 is an image sensor. Alternatively, the second receiving device 302 is a detector, and the first receiving device is an image sensor.

[0202] In a possible implementation, the detection device 300 further includes an imaging lens 303 . The light beam from the object space passes through the imaging lens 303 and then enters the optical device 100 .

[0203] In one possible embodiment, the detection device 300 further includes a filtering module. The filtering module is disposed between the imaging lens 303 and the first receiving device 301, or between the imaging lens 303 and the second receiving device 302. After filtering by the filtering module, the effectiveness of the optical signal received by the receiving device is improved, thereby helping to enhance the detection accuracy of the detection device.

[0204] The present application also provides a detection device, including a first emitting device and a second emitting device, and also including the aforementioned optical device, such as the optical device 100 or the optical device 200.

[0205] The following is an illustrative introduction using the optical device 100 as an example. The optical device 100 in the following description may be replaced by the optical device 200 .

[0206] Referring to Figure 21 , the detection device 300 includes a first emitting device 304, a second emitting device 305, and an optical device 100. The first emitting device 304 is used to emit a first light beam, the second emitting device 305 is used to emit a second light beam, and the optical device 100 is used to combine the first and second light beams to generate a combined light beam. The combined light beam is used to detect the object space.

[0207] Optionally, emission surfaces of the first light beam and the second light beam are coplanar or parallel.

[0208] In one possible embodiment, the first emitting device 304 includes one or more of the following light sources: vertical cavity surface emitting laser (VCSEL), photonic crystal surface emitting semiconductor lasers (PCSEL), edge emitting laser (EEL), laser diode (LD), distributed feedback laser diode (DFB-LD), grating coupled sampling reflection laser diode (GCSR-LD), or micro opto electro mechanical system laser diode (MOEMS-LD), etc.

[0209] In another possible implementation, the second emitting device includes one or more of the following light sources: VCSEL, PCSEL, EEL, LD, DFB-LD, GCSR-LD, or MOEMS-LD, etc.

[0210] In yet another possible implementation, with reference to FIG. 22 , the light emitting surface of the first emitting device 304 is coplanar or parallel to the light emitting surface of the second emitting device 305 .

[0211] In another possible embodiment, in combination with Figure 23, the light-emitting surface of the first emitting device 304 is perpendicular to the light-emitting surface of the second emitting device 305, but by setting a folding mirror, one of the light beams can be blocked and folded so that the emitting surfaces of the first light beam and the second light beam are equivalently parallel.

[0212] In another possible embodiment, the first emitting device 304 and the second emitting device 305 are mounted on the same circuit board. This allows the two emitting devices to share the same circuit board, making manufacturing and assembly easier.

[0213] In another possible implementation, the detection device 300 further includes an optical lens 306. The combined light beam passes through the optical lens 306 and then irradiates the object space.

[0214] The present application also provides a detection device, including a transmitting device and the aforementioned optical device, such as the optical device 100 or the optical device 200 .

[0215] Referring to FIG. 24 , the present application further provides a detection device comprising an emitting device 307 and the aforementioned optical device, such as optical device 100 or optical device 200. The emitting device 307 is configured to generate an emission beam, which is then split by the optical device 100 into two sub-beams, which are used to detect the object space. The optical device 100 can double the number of emission lines, thereby improving detection efficiency.

[0216] The present application also provides a laser radar, which includes the aforementioned optical device, such as the optical device 100 or the optical device 200, which is used for spectrometry. Optionally, the laser radar also includes a laser and a detector. The laser is used to emit detection light into the object space. The light beam incident on the optical device 100 includes an echo of the detection light, and the light beam is used to obtain information about the target in the object space. The detector is used to receive the light beam after passing through the optical device 100 to obtain relevant information about the target in the object space. The target information includes one or more of the target's distance, position, angle, coordinates, reflectivity, reflection intensity, color, or speed.

[0217] The present application also provides a laser radar, which includes the aforementioned optical device, such as optical device 100 or optical device 200, and is configured to perform beam combining. Optionally, the laser radar further includes a laser and a detector. The laser is configured to emit at least two beams of probe light into an object space. The at least two beams of probe light are incident upon the beam combining device to produce a combined light beam, which is used to detect the object space. The detector is configured to receive an echo from the combined light beam to obtain information related to a target in the object space.

[0218] The present application also provides a laser radar, which includes a detection device 300 shown in Figure 19. In some embodiments, the laser radar further includes a laser, which is used to generate an emission beam, and the emission beam is used to detect the object space. The detection device 300 is used to receive a first light beam, which includes an echo of the emission beam.

[0219] The present application also provides a laser radar, including a detection device 300 shown in Figures 21 and 24. In some embodiments, the laser radar further includes a detector for receiving a return signal from the object space, the return signal including an echo of the combined light beam emitted by the detection device.

[0220] An embodiment of the present application also provides a terminal, which includes the aforementioned optical device, or includes the aforementioned detection device, or includes the aforementioned laser radar.

[0221] Optionally, the terminal can be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot, or the terminal can also be an industrial device. It should be understood that the terminals involved in this application may include intelligent terminals or transportation tools such as vehicles, robots, drones, ships, and ships. Among them, the vehicle is a vehicle in a broad sense, which can be a transportation tool (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural equipment (such as a mower, a harvester, etc.), etc. For example, the robot can be an intelligent handling robot (automated guided vehicle, AGV), a walking conversational robot, a service robot, etc. Industrial equipment such as industrial robots and robotic arms. Leisure and entertainment equipment such as virtual reality (VR) equipment, mixed reality (MR) equipment, or a 4D cinema cabin, etc.

[0222] Optionally, there are many possible installation locations for the laser radar, such as on the platform of the vehicle's dashboard, or on the top of the cabin, or in one or more locations such as the head, side, or rear of the vehicle.

[0223] In the description of this application, the terms "center", "up", "down", "vertical", "horizontal", "left", "right", "inside", "outside", "side", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on this application. It should be understood that the Z direction, Y direction, X direction, etc. mentioned in some embodiments of this application are based on the XYZ rectangular coordinate system as a reference to facilitate the description of the features in this solution, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation.

[0224] In the embodiments of this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a concrete manner.

[0225] The “at least one” mentioned in the embodiments of this application refers to one or more, and “plurality” refers to two or more. “At least one of the following items” or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. “And / or” describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character “ / ” generally indicates that the previous and next associated objects are in an “or” relationship.

[0226] Furthermore, unless otherwise specified, the embodiments of the present application use ordinal numbers such as "first" and "second" to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects.

Claims

1. A spectroscopic device, characterized in that, It includes a first prism and a second prism. The first prism includes an incident surface, a first surface, a first reflection surface, and a first exit surface. The first surface and the first exit surface are perpendicular to each other to form a first right angle, and the first reflection surface is opposite to the incident surface with respect to the first right angle. The second prism includes a second surface, a second reflection surface, and a second exit surface. The second surface and the second exit surface are perpendicular to each other to form a second right angle, the second reflection surface is opposite to the second right angle, and the first surface and the second surface are joined to form a beam splitting surface. The beam splitting surface is used to reflect and transmit the incident light beam. The first reflection surface is used to reflect the light beam reflected by the beam splitting surface, and the second reflection surface is used to reflect the light beam transmitted by the beam splitting surface. Wherein, the first angle, the second angle, and the third angle satisfy: the sum of the first angle and 90° is twice the second angle, and the third angle is equal to the second angle; the first angle is the included angle between the incident surface and the beam splitting surface, the second angle is the included angle between the first exit surface and the first reflection surface, and the third angle is the included angle between the second exit surface and the second reflection surface.

2. The spectroscopic device according to claim 1, wherein, The first prism and the second prism are joined together as one body through the beam splitting surface.

3. The beam splitting device according to claim 1 or 2, wherein the beam splitting surface is used to divide the first light beam entering from the incident surface into a second light beam and a third light beam. The second light beam is the reflected light beam, and the third light beam is the transmitted light beam. the first reflection surface is used to reflect the second light beam to the first exit surface. the second reflection surface is used to reflect the third light beam to the second exit surface. The main optical axis receiving surfaces of the second light beam exiting from the first exit surface and the third light beam exiting from the second exit surface are coplanar, and the transmission path of the second light beam and the transmission path of the third light beam are axisymmetric with respect to the beam splitting surface.

4. The spectroscopic device according to claim 3, characterized in that, The first light beam is perpendicular to the incident surface.

5. The spectroscopic device according to any one of claims 1 to 4, characterized in that, The incident surface and the first reflection surface are coplanar or the incident surface is parallel to the first reflection surface. The first angle is 30°, and the second angle is 60°.

6. The spectroscopic device according to any one of claims 1-5, characterized in that, The minimum incident angle of the light beam reflected by the beam splitting surface on the first reflection surface is greater than or equal to the total reflection angle of the first reflection surface.

7. The spectroscopic device according to any one of claims 1-6, characterized in that, The minimum incident angle of the light beam transmitted by the beam splitting surface on the second reflection surface is greater than or equal to the total reflection angle of the second reflection surface.

8. The spectroscopic device according to any one of claims 1-5, characterized in that, The first reflection surface is coated with a reflective film.

9. The spectroscopic device according to claim 8, characterized in that, The second reflection surface is coated with a reflective film.

10. The spectroscopic device according to any one of claims 1-9, characterized in that, The first surface and / or the second surface is provided with a beam splitting film.

11. The spectroscopic device according to claim 10, characterized in that, The beam splitting film includes one or more of a wavelength beam splitting film, an intensity beam splitting film, and a polarization beam splitting film.

12. The spectroscopic device according to any one of claims 1-11, characterized in that, The wavelength of the light beam reflected by the beam splitting surface is different from the wavelength of the light beam transmitted by the beam splitting surface. The optical path of the light beam reflected by the beam splitting surface in the beam splitting device is the same as the optical path of the light beam transmitted by the beam splitting surface in the beam splitting device.

13. The spectroscopic device according to any one of claims 1-12, characterized in that, The beam splitting surface is used to reflect the light beam of the first wavelength and transmit the light beam of the second wavelength. The size relationship between the first distance and the second distance is the same as the size relationship between the first wavelength and the second wavelength. Wherein, the first distance is the distance from the beam splitting center to the first exit surface, the second distance is the distance from the beam splitting center to the second exit surface, and the beam splitting center is the intersection point of the principal optical axis of the beam incident on the beam splitting surface and the beam splitting surface.

14. The spectroscopic device according to any one of claims 1-13, characterized in that, The beam splitting surface is used for reflecting the beam of the first wavelength and transmitting the beam of the second wavelength. The magnitude relationship between the third distance and the fourth distance is the same as the magnitude relationship between the first wavelength and the second wavelength. Wherein, the third distance is the distance from the beam splitting center to the first reflection surface, and the fourth distance is the distance from the beam splitting center to the second reflection surface. The beam splitting center is the intersection point of the optical axis in the beam incident on the beam splitting surface and the beam splitting surface.

15. The spectroscopic device according to any one of claims 1 to 14, characterized in that, The beam splitting surface is used for reflecting the beam of the first wavelength and transmitting the beam of the second wavelength. The magnitude relationship between the refractive index of the first prism and the refractive index of the second prism is opposite to the magnitude relationship between the first wavelength and the second wavelength.

16. A beam combining device, characterized in that, Comprising a first prism and a second prism. The first prism includes a first incident surface, a first surface, a first reflection surface and an exit surface. The first surface and the first incident surface are perpendicular to each other to form a first right angle, and the first reflection surface and the exit surface are opposite to the first right angle. The second prism includes a second incident surface, a second surface and a second reflection surface. The second surface and the second incident surface are perpendicular to each other to form a second right angle, and the second reflection surface is opposite to the second right angle. The first surface and the second surface are attached to form a beam combining surface. The beam combining surface is used for reflecting the beam reflected by the first reflection surface and transmitting the beam reflected by the second reflection surface to obtain a combined beam, and the combined beam exits from the exit surface. Wherein, the first angle, the second angle and the third angle satisfy: the sum of the first angle and 90° is twice the second angle, and the third angle is equal to the second angle; the first angle is the included angle between the exit surface and the beam combining surface, the second angle is the included angle between the first incident surface and the first reflection surface, and the third angle is the included angle between the second incident surface and the second reflection surface.

17. The beam combining device according to claim 16, wherein The first prism and the second prism are attached together through the beam combining surface.

18. The beam combining device according to claim 16 or 17, wherein The first reflection surface is used for reflecting a first beam to the beam combining surface, and the first beam enters the first prism from the first incident surface. The second reflection surface is used for reflecting a second beam to the beam combining surface, and the second beam enters the second prism from the second incident surface. The emitting surfaces of the first beam incident on the first incident surface and the second beam incident on the second incident surface are coplanar. The beam combining surface is used for reflecting the first beam passing through the first reflection surface and transmitting the second beam passing through the second reflection surface to obtain a combined beam. After passing through the beam combining surface, the optical axes of the first beam and the second beam coincide.

19. The beam combining device according to any one of claims 16-18, characterized in that, The combined beam is perpendicular to the exit surface.

20. The beam combining device according to any one of claims 16-19, characterized in that The exit surface is coplanar with the first reflection surface or the exit surface is parallel to the first reflection surface, the first angle is 30°, and the second angle is 60°.

21. The beam combining device according to any one of claims 16-20, characterized in that, The minimum incident angle of the light beam incident on the first incident surface on the first reflection surface is greater than or equal to the total reflection angle of the first reflection surface. Alternatively, the first reflection surface is coated with a reflective film.

22. The beam combining device according to any one of claims 16-21, characterized in that, The minimum incident angle of the light beam incident on the second incident surface on the second reflection surface is greater than or equal to the total reflection angle of the second reflection surface. Alternatively, the second reflection surface is coated with a reflective film.

23. The beam combining device according to any one of claims 16-22, characterized in that, The first surface and / or the second surface is provided with a beam splitting film.

24. The beam combining device according to claim 23, wherein The beam splitting film includes one or more of a wavelength beam splitting film, a light intensity beam splitting film, and a polarization beam splitting film.

25. The beam combining device according to any one of claims 16-24, characterized in that, The wavelength of the light beam incident on the first incident surface is different from the wavelength of the light beam incident on the second incident surface. The light path of the light beam incident on the first incident surface is the same as the light path of the light beam incident on the second incident surface within the beam combining device.

26. The beam combining device according to any one of claims 16-25, characterized in that, The wavelength of the light beam incident on the first incident surface is the first wavelength, the wavelength of the light beam incident on the second incident surface is the second wavelength, and the magnitude relationship between the first distance and the second distance is the same as the magnitude relationship between the first wavelength and the second wavelength. Wherein, the first distance is the distance from the beam combining center to the first incident surface, the second distance is the distance from the beam combining center to the second incident surface, and the beam combining center is the intersection point of the principal optical axis of the light beam incident on the beam combining surface and the beam combining surface.

27. The beam combining device according to any one of claims 16-26, characterized in that, The wavelength of the light beam incident on the first incident surface is the first wavelength, and the wavelength of the light beam incident on the second incident surface is the second wavelength. The magnitude relationship between the third distance and the fourth distance is the same as the magnitude relationship between the first wavelength and the second wavelength. Wherein, the third distance is the distance from the beam combining center to the first reflection surface, and the fourth distance is the distance from the beam combining center to the second reflection surface. The beam combining center is the intersection point of the optical axis in the light beam incident on the beam combining surface and the beam combining surface.

28. The beam combining device according to any one of claims 16-27, characterized in that, The wavelength of the light beam incident on the first incident surface is the first wavelength, and the wavelength of the light beam incident on the second incident surface is the second wavelength. The magnitude relationship between the refractive index of the first prism and the refractive index of the second prism is opposite to the magnitude relationship between the first wavelength and the second wavelength.

29. A detection device, characterized in that, The detection device includes a first receiving device, a second receiving device, and the beam splitting device according to any one of claims 1-15. The beam splitting device is used to split the first light beam into a second light beam and a third light beam, and the receiving surfaces of the second light beam and the third light beam are coplanar. The first receiving device is used to receive the first light beam, the second receiving device is used to receive the second light beam, and the photosensitive surface of the first receiving device is coplanar with the photosensitive surface of the second receiving device.

30. A lidar, characterized in that, The lidar includes a laser and the detection device according to claim 29. The laser is used to generate an emission light beam for detecting the object space. The detection device is used to receive the first light beam, and the first light beam includes the echo of the emission light beam.

31. A detection device, characterized in that, The detection device includes a first transmitting device, a second transmitting device, and the beam combining device according to any one of claims 16-28. The first transmitting device is used to transmit a first light beam, and the second transmitting device is used to transmit a second light beam. The emitting surfaces of the first light beam and the second light beam are coplanar. The beam combining device is used to combine the first light beam and the second light beam to obtain a combined light beam, and the combined light beam is used to detect the object space.

32. A lidar, characterized in that, The lidar includes a detector and the detecting device according to claim 31. The detector is used to receive the return signal from the object space, and the return signal includes the echo of the combined light beam emitted by the detecting device.

33. A terminal, characterized in that, The terminal includes the beam splitting device according to any one of claims 1-15, or includes the beam combining device according to any one of claims 16-28, or includes the detecting device according to claim 29 or 31, or includes the lidar according to claim 30 or 32.

34. The terminal according to claim 33, wherein The terminal is a vehicle, a robot or a drone.

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